EP2052924A4 - Laufvorrichtung und bremssteuerverfahren für die laufvorrichtung - Google Patents

Laufvorrichtung und bremssteuerverfahren für die laufvorrichtung

Info

Publication number: EP2052924A4
Authority: EP; European Patent Office
Prior art keywords: control method; brake control; travel; moving device; moving
Prior art date: 2006-08-03
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Granted

Application number

EP07791738.3A

Other languages

English (en)

French (fr)

Other versions

EP2052924A1 (de

EP2052924B1 (de

Inventor

Yusuke Kosaka

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Toyota Motor Corp

Original Assignee

Toyota Motor Corp

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2006-08-03

Filing date

2007-08-01

Publication date

2013-08-14

2007-08-01 Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp

2009-04-29 Publication of EP2052924A1 publication Critical patent/EP2052924A1/de

2013-08-14 Publication of EP2052924A4 publication Critical patent/EP2052924A4/de

2014-11-19 Application granted granted Critical

2014-11-19 Publication of EP2052924B1 publication Critical patent/EP2052924B1/de

Status Not-in-force legal-status Critical Current

2027-08-01 Anticipated expiration legal-status Critical

Links

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Landscapes

Engineering & Computer Science (AREA)
Mechanical Engineering (AREA)
Transportation (AREA)
Regulating Braking Force (AREA)
Motorcycle And Bicycle Frame (AREA)
Electric Propulsion And Braking For Vehicles (AREA)

EP07791738.3A 2006-08-03 2007-08-01 Laufvorrichtung und bremssteuerverfahren für die laufvorrichtung Not-in-force EP2052924B1 (de)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
JP2006212389A JP5519093B2 (ja)	2006-08-03	2006-08-03	走行装置及び走行装置の制動制御方法
PCT/JP2007/065054 WO2008016074A1 (en)	2006-08-03	2007-08-01	Running device, and braking control method for the running device

Publications (3)

Publication Number	Publication Date
EP2052924A1 EP2052924A1 (de)	2009-04-29
EP2052924A4 true EP2052924A4 (de)	2013-08-14
EP2052924B1 EP2052924B1 (de)	2014-11-19

Family

ID=38997249

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP07791738.3A Not-in-force EP2052924B1 (de)	2006-08-03	2007-08-01	Laufvorrichtung und bremssteuerverfahren für die laufvorrichtung

Country Status (5)

Country	Link
US (1)	US8500221B2 (de)
EP (1)	EP2052924B1 (de)
JP (1)	JP5519093B2 (de)
CN (1)	CN101500866B (de)
WO (1)	WO2008016074A1 (de)

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WO2010047070A1 (ja) *	2008-10-22	2010-04-29	株式会社エクォス・リサーチ	車両
JP5351526B2 (ja) *	2009-01-09	2013-11-27	アイシン精機株式会社	姿勢安定化制御装置、車両及びプログラム
JP5287401B2 (ja) *	2009-03-19	2013-09-11	トヨタ自動車株式会社	同軸二輪車
EP2543582B1 (de) *	2010-03-05	2016-06-15	Toyota Jidosha Kabushiki Kaisha	Zweirädrige umgekehrte pendelvorrichtung, verfahren zu ihrer steuerung und steuerprogramm
WO2011125119A1 (ja) *	2010-04-06	2011-10-13	トヨタ自動車株式会社	移動体制御装置、その制御方法及び制御プログラム
JP5761347B2 (ja) *	2011-07-22	2015-08-12	トヨタ自動車株式会社	倒立型移動体制御装置、その制御方法及びプログラム
CN103126830A (zh) *	2011-11-25	2013-06-05	鸿富锦精密工业（深圳）有限公司	电动轮椅的煞车控制系统及方法
CN103162738B (zh) *	2011-12-19	2015-07-29	上海新世纪机器人有限公司	用于自平衡两轮车的状态检测装置和方法
CN103192913B (zh) *	2012-01-04	2015-04-15	上海新世纪机器人有限公司	用于自平衡两轮车的状态检测装置和方法
US8738278B2 (en)	2012-02-12	2014-05-27	Shane Chen	Two-wheel, self-balancing vehicle with independently movable foot placement sections
WO2014033789A1 (ja) *	2012-08-30	2014-03-06	トヨタ自動車株式会社	倒立型移動体及びその制御方法
JP6036453B2 (ja) *	2013-03-25	2016-11-30	トヨタ自動車株式会社	倒立型移動体及びその制御方法
JP6095436B2 (ja)	2013-03-27	2017-03-15	本田技研工業株式会社	倒立振子型車両
JP6081271B2 (ja)	2013-03-29	2017-02-15	本田技研工業株式会社	倒立振子型車両
JP6081270B2 (ja)	2013-03-29	2017-02-15	本田技研工業株式会社	倒立振子型車両
JP6062785B2 (ja) *	2013-03-29	2017-01-18	本田技研工業株式会社	倒立振子型車両
JP6062784B2 (ja)	2013-03-29	2017-01-18	本田技研工業株式会社	倒立振子型車両
JP6111119B2 (ja)	2013-03-29	2017-04-05	本田技研工業株式会社	倒立振子型車両
KR101473869B1 (ko) *	2013-04-05	2014-12-17	주식회사 로보쓰리	좌식형 밸런싱 스쿠터의 주행방법
JP6099483B2 (ja)	2013-05-31	2017-03-22	本田技研工業株式会社	倒立振子型車両
JP6099484B2 (ja)	2013-05-31	2017-03-22	本田技研工業株式会社	倒立振子型車両
JP6099485B2 (ja)	2013-05-31	2017-03-22	本田技研工業株式会社	倒立振子型車両
JP5904175B2 (ja) *	2013-08-28	2016-04-13	トヨタ自動車株式会社	倒立二輪装置
JP6136814B2 (ja) *	2013-09-26	2017-05-31	トヨタ自動車株式会社	倒立型移動体、動作状態推定装置及び動作状態推定方法
JP5999125B2 (ja) *	2014-02-28	2016-09-28	トヨタ自動車株式会社	倒立二輪車
CN104014123A (zh)	2014-06-13	2014-09-03	杭州骑客智能科技有限公司	纵向双轮车体
US10252724B2 (en)	2015-09-24	2019-04-09	P&N Phc, Llc	Portable two-wheeled self-balancing personal transport vehicle
USD803963S1 (en)	2016-07-20	2017-11-28	Razor Usa Llc	Two wheeled board
USD840872S1 (en)	2016-07-20	2019-02-19	Razor Usa Llc	Two wheeled board
USD941948S1 (en)	2016-07-20	2022-01-25	Razor Usa Llc	Two wheeled board
JP6575470B2 (ja) *	2016-09-07	2019-09-18	トヨタ自動車株式会社	走行装置
JP6497369B2 (ja) *	2016-09-13	2019-04-10	トヨタ自動車株式会社	走行装置
JP6497368B2 (ja) *	2016-09-13	2019-04-10	トヨタ自動車株式会社	走行装置
US12227257B2 (en)	2017-04-01	2025-02-18	Razor Usa Llc	Electric balance vehicles
JP7798473B2 (ja)	2017-12-22	2026-01-14	レイザー・ユーエスエー・エルエルシー	電動バランス車両
JP7380674B2 (ja) *	2019-03-20	2023-11-15	ソニーグループ株式会社	情報処理装置と情報処理方法および移動制御装置と移動制御方法
CN115685850B (zh) *	2022-11-07	2025-11-28	北京嘀嘀无限科技发展有限公司	电动车控制方法、装置、计算机设备及存储介质

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US6288505B1 (en) *	2000-10-13	2001-09-11	Deka Products Limited Partnership	Motor amplifier and control for a personal transporter
JP2006131115A (ja) *	2004-11-05	2006-05-25	Sony Corp	平行２輪車及びその制御方法

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JP3305378B2 (ja) *	1992-11-13	2002-07-22	本田技研工業株式会社	電動車両の制動装置
US6868931B2 (en) *	1994-05-27	2005-03-22	Deka Products Limited Partnership	Speed limiting for a balancing transporter accounting for variations in system capability
CA2211738C (en)	1995-02-03	2003-09-16	Deka Products Limited Partnership	Transportation vehicles and methods
EP0958997B1 (de) *	1998-01-28	2001-08-08	Franz Hueber	Fahrbares Gerät
JP2000059907A (ja) *	1998-06-04	2000-02-25	Nabco Ltd	電気自動車の制動装置
JP2002274349A (ja) *	2001-03-23	2002-09-25	Mitsubishi Motors Corp	車両の制動装置
US6724165B2 (en) *	2002-03-11	2004-04-20	Vectrix Corporation	Regenerative braking system for an electric vehicle
JP4291593B2 (ja)	2003-02-13	2009-07-08	デカ・プロダクツ・リミテッド・パートナーシップ	輸送車両と方法
JP2004276727A (ja) *	2003-03-14	2004-10-07	Matsushita Electric Works Ltd	人用移動機器とその制動方法
JP2004345608A (ja) *	2003-05-26	2004-12-09	Sony Corp	重心移動により操舵可能な車両
JP2005145296A (ja) *	2003-11-17	2005-06-09	Sony Corp	車両装置
JP4291732B2 (ja)	2004-05-10	2009-07-08	デカ・プロダクツ・リミテッド・パートナーシップ	輸送車両と方法
JP4659390B2 (ja) *	2004-05-31	2011-03-30	富士重工業株式会社	車両制動装置および車両制動方法
JP4483449B2 (ja) *	2004-07-20	2010-06-16	トヨタ自動車株式会社	ブレーキ制御装置
JP2006081343A (ja) *	2004-09-10	2006-03-23	Nissan Motor Co Ltd	車両の回生制動制御装置
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2006
- 2006-08-03 JP JP2006212389A patent/JP5519093B2/ja not_active Expired - Fee Related
2007
- 2007-08-01 US US12/376,241 patent/US8500221B2/en not_active Expired - Fee Related
- 2007-08-01 WO PCT/JP2007/065054 patent/WO2008016074A1/ja not_active Ceased
- 2007-08-01 CN CN2007800289838A patent/CN101500866B/zh not_active Expired - Fee Related
- 2007-08-01 EP EP07791738.3A patent/EP2052924B1/de not_active Not-in-force

Patent Citations (2)

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US6288505B1 (en) *	2000-10-13	2001-09-11	Deka Products Limited Partnership	Motor amplifier and control for a personal transporter
JP2006131115A (ja) *	2004-11-05	2006-05-25	Sony Corp	平行２輪車及びその制御方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2008016074A1 *

Also Published As

Publication number	Publication date
JP2008037210A (ja)	2008-02-21
US8500221B2 (en)	2013-08-06
EP2052924A1 (de)	2009-04-29
CN101500866B (zh)	2013-05-15
US20090315293A1 (en)	2009-12-24
EP2052924B1 (de)	2014-11-19
JP5519093B2 (ja)	2014-06-11
WO2008016074A1 (en)	2008-02-07
CN101500866A (zh)	2009-08-05

Legal Events

Date	Code	Title	Description
2009-03-27	PUAI	Public reference made under article 153(3) epc to a published international application that has entered the european phase	Free format text: ORIGINAL CODE: 0009012
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2009-04-29	AX	Request for extension of the european patent	Extension state: AL BA HR MK RS
2009-09-02	DAX	Request for extension of the european patent (deleted)
2009-09-02	RBV	Designated contracting states (corrected)	Designated state(s): DE FR GB IT
2013-02-27	RAP1	Party data changed (applicant data changed or rights of an application transferred)	Owner name: TOYOTA JIDOSHA KABUSHIKI KAISHA
2013-08-14	A4	Supplementary search report drawn up and despatched	Effective date: 20130711
2013-08-14	RIC1	Information provided on ipc code assigned before grant	Ipc: B60T 7/12 20060101ALI20130705BHEP Ipc: B60T 8/00 20060101AFI20130705BHEP Ipc: B62K 3/00 20060101ALI20130705BHEP Ipc: B60T 8/1755 20060101ALI20130705BHEP Ipc: B60T 8/17 20060101ALI20130705BHEP Ipc: B62K 17/00 20060101ALI20130705BHEP
2014-06-06	GRAP	Despatch of communication of intention to grant a patent	Free format text: ORIGINAL CODE: EPIDOSNIGR1
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